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ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.

ilqr

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

ilqr-1

iterative Linear Quadratic Regulator with constraints.

introductiontohumanoidrobotics

Matlab code for a Springer book "Introduction to Humanoid Robotics"

inverse_dynamics_with_recursive_newton_euler_algorithm

isaaclab

Unified framework for robot learning built on NVIDIA Isaac Sim

iterativelqr.jl

A Julia package for constrained iterative LQR (iLQR)

iva

Walking robot simulation, bipedal robot in Matlab using Lie group/algebra for dynamics

jax

Composable transformations of Python+NumPy programs: differentiate, vectorize, JIT to GPU/TPU, and more

jaxsim

A scalable physics engine and multibody dynamics library implemented with JAX. With JIT batteries :battery:

latex-ocr

pix2tex: Using a ViT to convert images of equations into LaTeX code.

learninghumanoidwalking

Training a humanoid robot for locomotion using Reinforcement Learning

lecture-notebooks

legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

legged_gym

Isaac Gym Environments for Legged Robots

lie-group-controllers

Header-only C++ library containing controllers designed for Lie Groups.

lipm_walking_controller

Walking controller for humanoid robots based on inverted pendulum tracking

loco-mujoco

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

locomanipcontroller

Humanoid loco-manipulation controller

locomotion-viewer

An Eigen tool to visualize in Rviz locomotion-related geometric objects

ma-thesis

Project management and files related to my master's thesis on 'Highly-Dynamic Movements of a Humanoid Robot Using Whole-Body Trajectory Optimization'

material_modern-cpp

Repository hosting the modern c++ course material

matlab-whole-body-simulator

A robot simulator running on simulink

mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control

model-predictive-control

MPC controllers for temperature regulation of a building. Graded project for the ETH course "Model Predictive Control".

modernrobotics

Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.

mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.

mujoco-simulink-blockset

Blocks for accessing MuJoCo physics engine within Simulink

multicontactcontroller

Humanoid multi-contact motion controller

neural-network-lyapunov

Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.